Visual servoing of an autonomous micro air vehicle for ground object tracking

Authors:
Syaril Azrad;Farid Kendoul;Dwi Perbrianti;Kenzo Nonami
Affiliations:
Robotics and Control Lab, Department of Electronics and Mechanical Engineering, Chiba University, Chiba City, Japan;Robotics and Control Lab, Department of Electronics and Mechanical Engineering, Chiba University, Chiba City, Japan;Robotics and Control Lab, Department of Electronics and Mechanical Engineering, Chiba University, Chiba City, Japan;Robotics and Control Lab, Department of Electronics and Mechanical Engineering, Chiba University, Chiba City, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper describes an object tracking system using an autonomous Micro Air Vehicle (MAV) and demonstrate its potential use for civilian purposes. The vision-based control system relies on a color and feature based vision algorithm for target detection and tracking, Kalman filters for relative pose estimation, and a nonlinear controller for MAV stabilization and guidance. The vision algorithm relies on information from a single onboard camera. An arbitrary target can be selected in real-time from the ground control station, thereby outperforming template and learning-based approaches. Experimental results obtained from outdoor flight tests, showed that the vision-control system enabled the MAV to track and hover above the target as long as the battery is available.